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2 Machine Synchronization

2.2.1.2. Encoder Description

313HAC18154-1 Revision: F

2.2.1.2. Encoder Description

Overview

The encoder provides a series of pulses indicating the motion detected by the sensor. This is

used to synchronize the motion between the robot and the external device.

Pulse channels

The encoder has two pulse channels, A and B which differ in phase by 90°. Each channel will

send a fixed number of pulses per revolution depending on the construction of the encoder.

• The number of pulses per revolution for the encoder must be selected in relation to the

gear reduction between the moving devices.

• The pulse ratio from the encoder should be in the range of 1250 - 2500 pulses per

meter of sensor motion.

• The pulses from channel A and B are used in quadrature to multiply the pulse ratio by

four to get counts.

This means that the control software will measure 5000 - 10000 counts per meter for an

encoder with the pulse ratio 1250 - 2500.

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Synchronization

To get an accurate synchronization, the movements of the external device must remain within

some limits relative to robot movements. For every meter the robot moves, the external

device movement must be between 0.2 and 5 meters (or radians).

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